Three-dimensional (3D) printing has been playing an important role in diverse areas in medicine. In order to promote the development of tissue engineering, this study attempts to fabricate tissue engineering scaffolds using the inkjet printing technology. Sodium alginate, exhibiting similar properties to the native human extracellular matrix (ECM), was used as bioink. The jetted fluid of sodium alginate would be gelatinized when printed into the calcium chloride solution. The characteristics of the 3D-printed sodium alginate scaffold were systematically measured and analyzed. The results show that, the pore size, porosity and degradation property of these scaffolds could be well controlled. This study indicates the capability of 3D bioprinting technology for preparing tissue engineering scaffolds.